The utility model relates to an AGV (Automatic Guided Vehicle) controller and an AGV, which belong to the technical field of AGVs, solve the problems of the current AGVs, and comprise a shell, a control main board is arranged in the shell, code reader control boards are connected above and below the control main board, the code reader control boards are connected with a core board connected to the control main board, and the core board is connected with the control main board. According to the AGV controller, the functions of the upper code reader control board and the lower code reader control board are integrated, an upper code reader and a lower code reader do not need to be additionally arranged on an AGV when the AGV controller is used, the AGV controller is convenient to use, the cost is reduced, and the working efficiency is improved. And design and arrangement of internal parts of the small-size AGV are facilitated.